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<div class="title">registration.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  Copyright (c) 2012-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *   * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_REGISTRATION_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_REGISTRATION_H_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="comment">// PCL includes</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_base.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;pcl/common/transforms.h&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;pcl/search/kdtree.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="preprocessor">#include &lt;pcl/kdtree/kdtree_flann.h&gt;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/boost.h&gt;</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/transformation_estimation.h&gt;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_estimation.h&gt;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/correspondence_rejection.h&gt;</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;{</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>Source, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>Target, <span class="keyword">typename</span> Scalar = <span class="keywordtype">float</span>&gt;</div>
<div class="line"><a name="l00062"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html">   62</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_registration.html">Registration</a> : <span class="keyword">public</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase</a>&lt;PointSource&gt;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">typedef</span> Eigen::Matrix&lt;Scalar, 4, 4&gt; Matrix4;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="comment">// using PCLBase&lt;PointSource&gt;::initCompute;</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointSource&gt;::deinitCompute</a>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointSource&gt;::input_</a>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_p_c_l_base.html">PCLBase&lt;PointSource&gt;::indices_</a>;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; Registration&lt;PointSource, PointTarget, Scalar&gt; &gt; Ptr;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt; const Registration&lt;PointSource, PointTarget, Scalar&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::registration::CorrespondenceRejector::Ptr CorrespondenceRejectorPtr;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointTarget&gt;</a> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">KdTree</a>;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> pcl::search::KdTree&lt;PointTarget&gt;::Ptr KdTreePtr;</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointSource&gt;</a> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">KdTreeReciprocal</a>;</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> KdTreeReciprocal::Ptr KdTreeReciprocalPtr;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;     </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a>;</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::Ptr PointCloudSourcePtr;</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudSource::ConstPtr PointCloudSourceConstPtr;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudTarget</a>;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::Ptr PointCloudTargetPtr;</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudTarget::ConstPtr PointCloudTargetConstPtr;</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> KdTree::PointRepresentationConstPtr PointRepresentationConstPtr;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation&lt;PointSource, PointTarget, Scalar&gt;</a> <a class="code" href="classpcl_1_1registration_1_1_transformation_estimation.html">TransformationEstimation</a>;</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> TransformationEstimation::Ptr TransformationEstimationPtr;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> TransformationEstimation::ConstPtr TransformationEstimationConstPtr;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase&lt;PointSource, PointTarget, Scalar&gt;</a> <a class="code" href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">CorrespondenceEstimation</a>;</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> CorrespondenceEstimation::Ptr CorrespondenceEstimationPtr;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> CorrespondenceEstimation::ConstPtr CorrespondenceEstimationConstPtr;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a83a7a76a4c9d467c3a7bacdc4062f810">  101</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a83a7a76a4c9d467c3a7bacdc4062f810">Registration</a> () </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;        : <a class="code" href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">reg_name_</a> ()</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a79b6170328705f29854aba00c4feb66d">tree_</a> (new <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">KdTree</a>)</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a3362d946f4b60e2628dc02e2af1f24fd">tree_reciprocal_</a> (new <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">KdTreeReciprocal</a>)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a6957c3193d73098cb0535d6625d591d4">nr_iterations_</a> (0)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#aa776d097d20137f2702a275d931989d2">max_iterations_</a> (10)</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a9099e6970624c4ee91817f3f97f82f7f">ransac_iterations_</a> (0)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#af9ac08a379a3b5db44c5c502cf6a882e">target_</a> ()</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a023e79a041ee70e8383654432cf5a71e">final_transformation_</a> (Matrix4::Identity ())</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a2cdeaab1c7d5e156a7bd35ee71c1f0db">transformation_</a> (Matrix4::Identity ())</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a8d0064ba2f733ef07476f42de09a656f">previous_transformation_</a> (Matrix4::Identity ())</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#adbd6519634f433c0be2fd640c0c75108">transformation_epsilon_</a> (0.0)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#ab5bf2297e961c3012bffe79fdd2d495d">euclidean_fitness_epsilon_</a> (-std::numeric_limits&lt;double&gt;::max ())</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a15aa975f33a8f22573bad118ddda10dd">corr_dist_threshold_</a> (std::sqrt (std::numeric_limits&lt;double&gt;::max ()))</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#ab5d7a9089d15932a78775dbb0b30d42f">inlier_threshold_</a> (0.05)</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a8e94793b677e107410ebb29ea2f931e9">converged_</a> (false)</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#ae33bc2efe08f2fff1a35df1b3d602036">min_number_correspondences_</a> (3)</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a98f1c160391fff07f34339b63286e228">correspondences_</a> (new Correspondences)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a99baaa7e513bda9103c58fd1471557ed">transformation_estimation_</a> ()</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a5f5e6122a988e5114f4caa1212920444">correspondence_estimation_</a> ()</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#adc73c4731a1e01ac100ebf4659578e1c">correspondence_rejectors_</a> ()</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a0167493576dabedd7678aa6811dee363">target_cloud_updated_</a> (true)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#aefd89f31379081d9cc75e3ce9ab1a947">source_cloud_updated_</a> (true)</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a6335de3036d6e0fe9a3942cd6f30c87f">force_no_recompute_</a> (false)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#ad1fc63c91641a5e160aa19108a7811ec">force_no_recompute_reciprocal_</a> (false)</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a010905bbc1bc67175d3ecf3b2ea6401a">update_visualizer_</a> (NULL)</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        , <a class="code" href="classpcl_1_1_registration.html#a356b2c632c8160d2fb0d194e9a8720c6">point_representation_</a> ()</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;      {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a612ce0633b614644e481a0affea2a352">  132</a></span>&#160;      <span class="keyword">virtual</span> <a class="code" href="classpcl_1_1_registration.html#a612ce0633b614644e481a0affea2a352">~Registration</a> () {}</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00150"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#ad16bd1099eb60c9ac26fdc6c56058029">  150</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#ad16bd1099eb60c9ac26fdc6c56058029">setTransformationEstimation</a> (<span class="keyword">const</span> TransformationEstimationPtr &amp;te) { <a class="code" href="classpcl_1_1_registration.html#a99baaa7e513bda9103c58fd1471557ed">transformation_estimation_</a> = te; }</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00174"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a34f8e20116d171898515ed94997c3c7d">  174</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a34f8e20116d171898515ed94997c3c7d">setCorrespondenceEstimation</a> (<span class="keyword">const</span> CorrespondenceEstimationPtr &amp;ce) { <a class="code" href="classpcl_1_1_registration.html#a5f5e6122a988e5114f4caa1212920444">correspondence_estimation_</a> = ce; }</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160; </div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;      PCL_DEPRECATED (<span class="stringliteral">&quot;[pcl::registration::Registration::setInputCloud] setInputCloud is deprecated. Please use setInputSource instead.&quot;</span>)</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      void</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a6a111fe9b14dc3c65ca420b640e42de9">setInputCloud</a> (const PointCloudSourceConstPtr &amp;cloud);</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160; </div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;      PCL_DEPRECATED (&quot;[pcl::registration::<a class="code" href="classpcl_1_1_registration.html">Registration</a>::<a class="code" href="classpcl_1_1_registration.html#a27a6eb286aef8d790a6570018e0dfa9b">getInputCloud</a>] <a class="code" href="classpcl_1_1_registration.html#a27a6eb286aef8d790a6570018e0dfa9b">getInputCloud</a> is deprecated. Please use <a class="code" href="classpcl_1_1_registration.html#ac0d56239d2f0d7c567f9402a177d3a0e">getInputSource</a> instead.&quot;)</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;      PointCloudSourceConstPtr const</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a27a6eb286aef8d790a6570018e0dfa9b">getInputCloud</a> ();</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      virtual <span class="keywordtype">void</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a931144f549047b081c413e96a2fd70d6">  196</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a931144f549047b081c413e96a2fd70d6">setInputSource</a> (const PointCloudSourceConstPtr &amp;cloud)</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      {</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#aefd89f31379081d9cc75e3ce9ab1a947">source_cloud_updated_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">PCLBase&lt;PointSource&gt;::setInputCloud</a> (cloud);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;      }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keyword">inline</span> PointCloudSourceConstPtr <span class="keyword">const</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#ac0d56239d2f0d7c567f9402a177d3a0e">  204</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#ac0d56239d2f0d7c567f9402a177d3a0e">getInputSource</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">input_</a> ); }</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      <span class="keyword">virtual</span> <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a4c4e69008295052913c76175797b99a9">setInputTarget</a> (<span class="keyword">const</span> PointCloudTargetConstPtr &amp;cloud); </div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      <span class="keyword">inline</span> PointCloudTargetConstPtr <span class="keyword">const</span> </div>
<div class="line"><a name="l00214"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a97259be9f630f5f21ef60e3e62f8fa47">  214</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a97259be9f630f5f21ef60e3e62f8fa47">getInputTarget</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_registration.html#af9ac08a379a3b5db44c5c502cf6a882e">target_</a> ); }</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160; </div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00225"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a409442a0f43b73e1227335307b1d9ccc">  225</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a409442a0f43b73e1227335307b1d9ccc">setSearchMethodTarget</a> (<span class="keyword">const</span> KdTreePtr &amp;tree, </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;                             <span class="keywordtype">bool</span> force_no_recompute = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;      { </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a79b6170328705f29854aba00c4feb66d">tree_</a> = tree; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keywordflow">if</span> (force_no_recompute)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;        {</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;          <a class="code" href="classpcl_1_1_registration.html#a6335de3036d6e0fe9a3942cd6f30c87f">force_no_recompute_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        }</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        <span class="comment">// Since we just set a new tree, we need to check for updates</span></div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a0167493576dabedd7678aa6811dee363">target_cloud_updated_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <span class="keyword">inline</span> KdTreePtr</div>
<div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a7600327adbe8c11394c52f13364133cd">  240</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a7600327adbe8c11394c52f13364133cd">getSearchMethodTarget</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_registration.html#a79b6170328705f29854aba00c4feb66d">tree_</a>);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;      }</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00253"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a3bfafcf5966b90f513f52ff0a7a42f37">  253</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a3bfafcf5966b90f513f52ff0a7a42f37">setSearchMethodSource</a> (<span class="keyword">const</span> KdTreeReciprocalPtr &amp;tree, </div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;                             <span class="keywordtype">bool</span> force_no_recompute = <span class="keyword">false</span>) </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      { </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a3362d946f4b60e2628dc02e2af1f24fd">tree_reciprocal_</a> = tree; </div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;        <span class="keywordflow">if</span> ( force_no_recompute )</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;        {</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;          <a class="code" href="classpcl_1_1_registration.html#ad1fc63c91641a5e160aa19108a7811ec">force_no_recompute_reciprocal_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;        }</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;        <span class="comment">// Since we just set a new tree, we need to check for updates</span></div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#aefd89f31379081d9cc75e3ce9ab1a947">source_cloud_updated_</a> = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      }</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;      <span class="keyword">inline</span> KdTreeReciprocalPtr</div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#add717357d14e16c3d71eefe8cd658343">  268</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#add717357d14e16c3d71eefe8cd658343">getSearchMethodSource</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_registration.html#a3362d946f4b60e2628dc02e2af1f24fd">tree_reciprocal_</a>);</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      }</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;      <span class="keyword">inline</span> Matrix4</div>
<div class="line"><a name="l00275"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a1e68bd39ac943131dcbf1431f9afe3f3">  275</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a1e68bd39ac943131dcbf1431f9afe3f3">getFinalTransformation</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_registration.html#a023e79a041ee70e8383654432cf5a71e">final_transformation_</a>); }</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <span class="keyword">inline</span> Matrix4</div>
<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a86b11948c03bee5474b2224bf988f701">  279</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a86b11948c03bee5474b2224bf988f701">getLastIncrementalTransformation</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_registration.html#a2cdeaab1c7d5e156a7bd35ee71c1f0db">transformation_</a>); }</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00285"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a3844d186f7a99d15464368e0f25635ed">  285</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a3844d186f7a99d15464368e0f25635ed">setMaximumIterations</a> (<span class="keywordtype">int</span> nr_iterations) { <a class="code" href="classpcl_1_1_registration.html#aa776d097d20137f2702a275d931989d2">max_iterations_</a> = nr_iterations; }</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">int</span> </div>
<div class="line"><a name="l00289"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#adf1c20667e8bc292a687c9664fd30735">  289</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#adf1c20667e8bc292a687c9664fd30735">getMaximumIterations</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_registration.html#aa776d097d20137f2702a275d931989d2">max_iterations_</a>); }</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160; </div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00295"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a1fbe7e76761563c44cb2460376ed5e53">  295</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a1fbe7e76761563c44cb2460376ed5e53">setRANSACIterations</a> (<span class="keywordtype">int</span> ransac_iterations) { <a class="code" href="classpcl_1_1_registration.html#a9099e6970624c4ee91817f3f97f82f7f">ransac_iterations_</a> = ransac_iterations; }</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00299"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#affcce068a7d132be1eb299d509390ca1">  299</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#affcce068a7d132be1eb299d509390ca1">getRANSACIterations</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_registration.html#a9099e6970624c4ee91817f3f97f82f7f">ransac_iterations_</a>); }</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00309"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a64db6d25e2707a174dbad28f2484bffe">  309</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a64db6d25e2707a174dbad28f2484bffe">setRANSACOutlierRejectionThreshold</a> (<span class="keywordtype">double</span> inlier_threshold) { <a class="code" href="classpcl_1_1_registration.html#ab5d7a9089d15932a78775dbb0b30d42f">inlier_threshold_</a> = inlier_threshold; }</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00313"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a6b4ae8d2e7b280de376b1e8a3956157e">  313</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a6b4ae8d2e7b280de376b1e8a3956157e">getRANSACOutlierRejectionThreshold</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_registration.html#ab5d7a9089d15932a78775dbb0b30d42f">inlier_threshold_</a>); }</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160; </div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00321"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a65596dcc3cb5d2647857226fb3d999a5">  321</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a65596dcc3cb5d2647857226fb3d999a5">setMaxCorrespondenceDistance</a> (<span class="keywordtype">double</span> distance_threshold) { <a class="code" href="classpcl_1_1_registration.html#a15aa975f33a8f22573bad118ddda10dd">corr_dist_threshold_</a> = distance_threshold; }</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160; </div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00327"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a71fec358f22d434de9a654b6ffd5949f">  327</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a71fec358f22d434de9a654b6ffd5949f">getMaxCorrespondenceDistance</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_registration.html#a15aa975f33a8f22573bad118ddda10dd">corr_dist_threshold_</a>); }</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00336"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#aec74ab878cca8d62fd1be9942685a8c1">  336</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#aec74ab878cca8d62fd1be9942685a8c1">setTransformationEpsilon</a> (<span class="keywordtype">double</span> epsilon) { <a class="code" href="classpcl_1_1_registration.html#adbd6519634f433c0be2fd640c0c75108">transformation_epsilon_</a> = epsilon; }</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00342"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a19024853d8480a0e4bc3193f6f75f7c8">  342</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a19024853d8480a0e4bc3193f6f75f7c8">getTransformationEpsilon</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_registration.html#adbd6519634f433c0be2fd640c0c75108">transformation_epsilon_</a>); }</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00353"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#aeb0bb4577dbe144bd467d4a9632b84d8">  353</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#aeb0bb4577dbe144bd467d4a9632b84d8">setEuclideanFitnessEpsilon</a> (<span class="keywordtype">double</span> epsilon) { <a class="code" href="classpcl_1_1_registration.html#ab5bf2297e961c3012bffe79fdd2d495d">euclidean_fitness_epsilon_</a> = epsilon; }</div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00359"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a71b9fa3e4d1285d16361efe4d0634bde">  359</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a71b9fa3e4d1285d16361efe4d0634bde">getEuclideanFitnessEpsilon</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_registration.html#ab5bf2297e961c3012bffe79fdd2d495d">euclidean_fitness_epsilon_</a>); }</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00365"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a5da970b4fbd4d1dfbaa4ab76d3d7d22e">  365</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a5da970b4fbd4d1dfbaa4ab76d3d7d22e">setPointRepresentation</a> (<span class="keyword">const</span> PointRepresentationConstPtr &amp;point_representation)</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;      {</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#a356b2c632c8160d2fb0d194e9a8720c6">point_representation_</a> = point_representation;</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      }</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160; </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;      <span class="keyword">template</span>&lt;<span class="keyword">typename</span> FunctionSignature&gt; <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00375"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#ac13dcb392c660cf311a689041ec63a5c">  375</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#ac13dcb392c660cf311a689041ec63a5c">registerVisualizationCallback</a> (boost::function&lt;FunctionSignature&gt; &amp;visualizerCallback)</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;      {</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        <span class="keywordflow">if</span> (visualizerCallback != NULL)</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        {</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;          <a class="code" href="classpcl_1_1_registration.html#a010905bbc1bc67175d3ecf3b2ea6401a">update_visualizer_</a> = visualizerCallback;</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;        }</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;      }</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160; </div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      <a class="code" href="classpcl_1_1_registration.html#ab26742c383b6f5e86fb96a236fb08728">getFitnessScore</a> (<span class="keywordtype">double</span> max_range = std::numeric_limits&lt;double&gt;::max ());</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160; </div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">double</span> </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;      <a class="code" href="classpcl_1_1_registration.html#ab26742c383b6f5e86fb96a236fb08728">getFitnessScore</a> (<span class="keyword">const</span> std::vector&lt;float&gt; &amp;distances_a, <span class="keyword">const</span> std::vector&lt;float&gt; &amp;distances_b);</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160; </div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span> </div>
<div class="line"><a name="l00403"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a7b91930ed75aaafec420ed223d1a111b">  403</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a7b91930ed75aaafec420ed223d1a111b">hasConverged</a> () { <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_registration.html#a8e94793b677e107410ebb29ea2f931e9">converged_</a>); }</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160; </div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a96212303ca16b6d60020824086887c4f">align</a> (PointCloudSource &amp;output);</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a96212303ca16b6d60020824086887c4f">align</a> (PointCloudSource &amp;output, <span class="keyword">const</span> Matrix4&amp; guess);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;      <span class="keyword">inline</span> <span class="keyword">const</span> std::string&amp;</div>
<div class="line"><a name="l00422"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a26eae6a42450893ca1c2ed81560159f2">  422</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a26eae6a42450893ca1c2ed81560159f2">getClassName</a> ()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">reg_name_</a>); }</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        </div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a0b42c13696bef68c50d5c3135bc573cf">initCompute</a> ();</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;      <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;      <a class="code" href="classpcl_1_1_registration.html#ae210269f0404556b8dd7f4306084a91d">initComputeReciprocal</a> ();</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160; </div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00449"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a663e64d6d5103eb937addd3e33104cf6">  449</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a663e64d6d5103eb937addd3e33104cf6">addCorrespondenceRejector</a> (<span class="keyword">const</span> CorrespondenceRejectorPtr &amp;rejector)</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      {</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#adc73c4731a1e01ac100ebf4659578e1c">correspondence_rejectors_</a>.push_back (rejector);</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;      }</div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160; </div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;      <span class="keyword">inline</span> std::vector&lt;CorrespondenceRejectorPtr&gt;</div>
<div class="line"><a name="l00456"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#ac0c221d8f1151096721db3817610c9d9">  456</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#ac0c221d8f1151096721db3817610c9d9">getCorrespondenceRejectors</a> ()</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;      {</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_registration.html#adc73c4731a1e01ac100ebf4659578e1c">correspondence_rejectors_</a>);</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;      }</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160; </div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00465"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a33d49f38bcb804bb893a14e3cd4ed31e">  465</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a33d49f38bcb804bb893a14e3cd4ed31e">removeCorrespondenceRejector</a> (<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> i)</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;      {</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;        <span class="keywordflow">if</span> (i &gt;= <a class="code" href="classpcl_1_1_registration.html#adc73c4731a1e01ac100ebf4659578e1c">correspondence_rejectors_</a>.size ())</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#adc73c4731a1e01ac100ebf4659578e1c">correspondence_rejectors_</a>.erase (<a class="code" href="classpcl_1_1_registration.html#adc73c4731a1e01ac100ebf4659578e1c">correspondence_rejectors_</a>.begin () + i);</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;      }</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160; </div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00475"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a169aeb5141fc6e1cec83582ae284aeaa">  475</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#a169aeb5141fc6e1cec83582ae284aeaa">clearCorrespondenceRejectors</a> ()</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;      {</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;        <a class="code" href="classpcl_1_1_registration.html#adc73c4731a1e01ac100ebf4659578e1c">correspondence_rejectors_</a>.clear ();</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;      }</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160; </div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00482"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">  482</a></span>&#160;      std::string <a class="code" href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">reg_name_</a>;</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160; </div>
<div class="line"><a name="l00485"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a79b6170328705f29854aba00c4feb66d">  485</a></span>&#160;      KdTreePtr <a class="code" href="classpcl_1_1_registration.html#a79b6170328705f29854aba00c4feb66d">tree_</a>;</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;      </div>
<div class="line"><a name="l00488"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a3362d946f4b60e2628dc02e2af1f24fd">  488</a></span>&#160;      KdTreeReciprocalPtr <a class="code" href="classpcl_1_1_registration.html#a3362d946f4b60e2628dc02e2af1f24fd">tree_reciprocal_</a>;</div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160; </div>
<div class="line"><a name="l00491"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a6957c3193d73098cb0535d6625d591d4">  491</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_registration.html#a6957c3193d73098cb0535d6625d591d4">nr_iterations_</a>;</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160; </div>
<div class="line"><a name="l00496"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#aa776d097d20137f2702a275d931989d2">  496</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_registration.html#aa776d097d20137f2702a275d931989d2">max_iterations_</a>;</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160; </div>
<div class="line"><a name="l00499"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a9099e6970624c4ee91817f3f97f82f7f">  499</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_registration.html#a9099e6970624c4ee91817f3f97f82f7f">ransac_iterations_</a>;</div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160; </div>
<div class="line"><a name="l00502"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#af9ac08a379a3b5db44c5c502cf6a882e">  502</a></span>&#160;      PointCloudTargetConstPtr <a class="code" href="classpcl_1_1_registration.html#af9ac08a379a3b5db44c5c502cf6a882e">target_</a>;</div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160; </div>
<div class="line"><a name="l00505"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a023e79a041ee70e8383654432cf5a71e">  505</a></span>&#160;      Matrix4 <a class="code" href="classpcl_1_1_registration.html#a023e79a041ee70e8383654432cf5a71e">final_transformation_</a>;</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160; </div>
<div class="line"><a name="l00508"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a2cdeaab1c7d5e156a7bd35ee71c1f0db">  508</a></span>&#160;      Matrix4 <a class="code" href="classpcl_1_1_registration.html#a2cdeaab1c7d5e156a7bd35ee71c1f0db">transformation_</a>;</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160; </div>
<div class="line"><a name="l00511"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a8d0064ba2f733ef07476f42de09a656f">  511</a></span>&#160;      Matrix4 <a class="code" href="classpcl_1_1_registration.html#a8d0064ba2f733ef07476f42de09a656f">previous_transformation_</a>;</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160; </div>
<div class="line"><a name="l00516"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#adbd6519634f433c0be2fd640c0c75108">  516</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_registration.html#adbd6519634f433c0be2fd640c0c75108">transformation_epsilon_</a>;</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160; </div>
<div class="line"><a name="l00522"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#ab5bf2297e961c3012bffe79fdd2d495d">  522</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_registration.html#ab5bf2297e961c3012bffe79fdd2d495d">euclidean_fitness_epsilon_</a>;</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160; </div>
<div class="line"><a name="l00527"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a15aa975f33a8f22573bad118ddda10dd">  527</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_registration.html#a15aa975f33a8f22573bad118ddda10dd">corr_dist_threshold_</a>;</div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160; </div>
<div class="line"><a name="l00533"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#ab5d7a9089d15932a78775dbb0b30d42f">  533</a></span>&#160;      <span class="keywordtype">double</span> <a class="code" href="classpcl_1_1_registration.html#ab5d7a9089d15932a78775dbb0b30d42f">inlier_threshold_</a>;</div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160; </div>
<div class="line"><a name="l00536"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a8e94793b677e107410ebb29ea2f931e9">  536</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_registration.html#a8e94793b677e107410ebb29ea2f931e9">converged_</a>;</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160; </div>
<div class="line"><a name="l00541"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#ae33bc2efe08f2fff1a35df1b3d602036">  541</a></span>&#160;      <span class="keywordtype">int</span> <a class="code" href="classpcl_1_1_registration.html#ae33bc2efe08f2fff1a35df1b3d602036">min_number_correspondences_</a>;</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160; </div>
<div class="line"><a name="l00544"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a98f1c160391fff07f34339b63286e228">  544</a></span>&#160;      CorrespondencesPtr <a class="code" href="classpcl_1_1_registration.html#a98f1c160391fff07f34339b63286e228">correspondences_</a>;</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160; </div>
<div class="line"><a name="l00547"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a99baaa7e513bda9103c58fd1471557ed">  547</a></span>&#160;      TransformationEstimationPtr <a class="code" href="classpcl_1_1_registration.html#a99baaa7e513bda9103c58fd1471557ed">transformation_estimation_</a>;</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160; </div>
<div class="line"><a name="l00550"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a5f5e6122a988e5114f4caa1212920444">  550</a></span>&#160;      CorrespondenceEstimationPtr <a class="code" href="classpcl_1_1_registration.html#a5f5e6122a988e5114f4caa1212920444">correspondence_estimation_</a>;</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160; </div>
<div class="line"><a name="l00553"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#adc73c4731a1e01ac100ebf4659578e1c">  553</a></span>&#160;      std::vector&lt;CorrespondenceRejectorPtr&gt; <a class="code" href="classpcl_1_1_registration.html#adc73c4731a1e01ac100ebf4659578e1c">correspondence_rejectors_</a>;</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160; </div>
<div class="line"><a name="l00558"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a0167493576dabedd7678aa6811dee363">  558</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_registration.html#a0167493576dabedd7678aa6811dee363">target_cloud_updated_</a>;</div>
<div class="line"><a name="l00562"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#aefd89f31379081d9cc75e3ce9ab1a947">  562</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_registration.html#aefd89f31379081d9cc75e3ce9ab1a947">source_cloud_updated_</a>;</div>
<div class="line"><a name="l00565"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a6335de3036d6e0fe9a3942cd6f30c87f">  565</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_registration.html#a6335de3036d6e0fe9a3942cd6f30c87f">force_no_recompute_</a>;</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;      </div>
<div class="line"><a name="l00569"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#ad1fc63c91641a5e160aa19108a7811ec">  569</a></span>&#160;      <span class="keywordtype">bool</span> <a class="code" href="classpcl_1_1_registration.html#ad1fc63c91641a5e160aa19108a7811ec">force_no_recompute_reciprocal_</a>;</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160; </div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;      boost::function&lt;void(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointSource&gt;</a> &amp;cloud_src,</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;                           <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_src,</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;                           <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointTarget&gt;</a> &amp;cloud_tgt,</div>
<div class="line"><a name="l00577"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a010905bbc1bc67175d3ecf3b2ea6401a">  577</a></span>&#160;                           <span class="keyword">const</span> std::vector&lt;int&gt; &amp;indices_tgt)&gt; <a class="code" href="classpcl_1_1_registration.html#a010905bbc1bc67175d3ecf3b2ea6401a">update_visualizer_</a>;</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160; </div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00586"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#abbeeee9510e44239d47b3c8079ee7c20">  586</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#abbeeee9510e44239d47b3c8079ee7c20">searchForNeighbors</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a> &amp;cloud, <span class="keywordtype">int</span> index, </div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;                          std::vector&lt;int&gt; &amp;indices, std::vector&lt;float&gt; &amp;distances)</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;      {</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;        <span class="keywordtype">int</span> k = <a class="code" href="classpcl_1_1_registration.html#a79b6170328705f29854aba00c4feb66d">tree_</a>-&gt;nearestKSearch (cloud, index, 1, indices, distances);</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;        <span class="keywordflow">if</span> (k == 0)</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;        <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;      }</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160; </div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00597"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#ae5eb5d425e7cc8a998f0e4b1b253a6f5">  597</a></span>&#160;      <a class="code" href="classpcl_1_1_registration.html#ae5eb5d425e7cc8a998f0e4b1b253a6f5">computeTransformation</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloudSource</a> &amp;output, <span class="keyword">const</span> Matrix4&amp; guess) = 0;</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160; </div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00601"></a><span class="lineno"><a class="line" href="classpcl_1_1_registration.html#a356b2c632c8160d2fb0d194e9a8720c6">  601</a></span>&#160;      PointRepresentationConstPtr <a class="code" href="classpcl_1_1_registration.html#a356b2c632c8160d2fb0d194e9a8720c6">point_representation_</a>;</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;      EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;   };</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;}</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160; </div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;<span class="preprocessor">#include &lt;pcl/registration/impl/registration.hpp&gt;</span></div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160; </div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;<span class="preprocessor">#endif  </span><span class="comment">//#ifndef PCL_REGISTRATION_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html">pcl::PCLBase</a></div><div class="ttdoc">PCL base class. Implements methods that are used by most PCL algorithms.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:69</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a09c70d8e06e3fb4f07903fe6f8d67869"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a09c70d8e06e3fb4f07903fe6f8d67869">pcl::PCLBase&lt; PointSource &gt;::input_</a></div><div class="ttdeci">PointCloudConstPtr input_</div><div class="ttdoc">The input point cloud dataset.</div><div class="ttdef"><b>Definition:</b> pcl_base.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; PointSource &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html"><div class="ttname"><a href="classpcl_1_1_registration.html">pcl::Registration</a></div><div class="ttdoc">Registration represents the base registration class for general purpose, ICP-like methods.</div><div class="ttdef"><b>Definition:</b> registration.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a010905bbc1bc67175d3ecf3b2ea6401a"><div class="ttname"><a href="classpcl_1_1_registration.html#a010905bbc1bc67175d3ecf3b2ea6401a">pcl::Registration::update_visualizer_</a></div><div class="ttdeci">boost::function&lt; void(const pcl::PointCloud&lt; PointSource &gt; &amp;cloud_src, const std::vector&lt; int &gt; &amp;indices_src, const pcl::PointCloud&lt; PointTarget &gt; &amp;cloud_tgt, const std::vector&lt; int &gt; &amp;indices_tgt)&gt; update_visualizer_</div><div class="ttdoc">Callback function to update intermediate source point cloud position during it's registration to the ...</div><div class="ttdef"><b>Definition:</b> registration.h:577</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a0167493576dabedd7678aa6811dee363"><div class="ttname"><a href="classpcl_1_1_registration.html#a0167493576dabedd7678aa6811dee363">pcl::Registration::target_cloud_updated_</a></div><div class="ttdeci">bool target_cloud_updated_</div><div class="ttdoc">Variable that stores whether we have a new target cloud, meaning we need to pre-process it again....</div><div class="ttdef"><b>Definition:</b> registration.h:558</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a023e79a041ee70e8383654432cf5a71e"><div class="ttname"><a href="classpcl_1_1_registration.html#a023e79a041ee70e8383654432cf5a71e">pcl::Registration::final_transformation_</a></div><div class="ttdeci">Matrix4 final_transformation_</div><div class="ttdoc">The final transformation matrix estimated by the registration method after N iterations.</div><div class="ttdef"><b>Definition:</b> registration.h:505</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a0b42c13696bef68c50d5c3135bc573cf"><div class="ttname"><a href="classpcl_1_1_registration.html#a0b42c13696bef68c50d5c3135bc573cf">pcl::Registration::initCompute</a></div><div class="ttdeci">bool initCompute()</div><div class="ttdoc">Internal computation initalization.</div><div class="ttdef"><b>Definition:</b> registration.hpp:71</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a15aa975f33a8f22573bad118ddda10dd"><div class="ttname"><a href="classpcl_1_1_registration.html#a15aa975f33a8f22573bad118ddda10dd">pcl::Registration::corr_dist_threshold_</a></div><div class="ttdeci">double corr_dist_threshold_</div><div class="ttdoc">The maximum distance threshold between two correspondent points in source &lt;-&gt; target....</div><div class="ttdef"><b>Definition:</b> registration.h:527</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a169aeb5141fc6e1cec83582ae284aeaa"><div class="ttname"><a href="classpcl_1_1_registration.html#a169aeb5141fc6e1cec83582ae284aeaa">pcl::Registration::clearCorrespondenceRejectors</a></div><div class="ttdeci">void clearCorrespondenceRejectors()</div><div class="ttdoc">Clear the list of correspondence rejectors.</div><div class="ttdef"><b>Definition:</b> registration.h:475</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a19024853d8480a0e4bc3193f6f75f7c8"><div class="ttname"><a href="classpcl_1_1_registration.html#a19024853d8480a0e4bc3193f6f75f7c8">pcl::Registration::getTransformationEpsilon</a></div><div class="ttdeci">double getTransformationEpsilon()</div><div class="ttdoc">Get the transformation epsilon (maximum allowable difference between two consecutive transformations)...</div><div class="ttdef"><b>Definition:</b> registration.h:342</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a1e493af70763e05bcaf5ecd0ed7be63d"><div class="ttname"><a href="classpcl_1_1_registration.html#a1e493af70763e05bcaf5ecd0ed7be63d">pcl::Registration::reg_name_</a></div><div class="ttdeci">std::string reg_name_</div><div class="ttdoc">The registration method name.</div><div class="ttdef"><b>Definition:</b> registration.h:482</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a1e68bd39ac943131dcbf1431f9afe3f3"><div class="ttname"><a href="classpcl_1_1_registration.html#a1e68bd39ac943131dcbf1431f9afe3f3">pcl::Registration::getFinalTransformation</a></div><div class="ttdeci">Matrix4 getFinalTransformation()</div><div class="ttdoc">Get the final transformation matrix estimated by the registration method.</div><div class="ttdef"><b>Definition:</b> registration.h:275</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a1fbe7e76761563c44cb2460376ed5e53"><div class="ttname"><a href="classpcl_1_1_registration.html#a1fbe7e76761563c44cb2460376ed5e53">pcl::Registration::setRANSACIterations</a></div><div class="ttdeci">void setRANSACIterations(int ransac_iterations)</div><div class="ttdoc">Set the number of iterations RANSAC should run for.</div><div class="ttdef"><b>Definition:</b> registration.h:295</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a26eae6a42450893ca1c2ed81560159f2"><div class="ttname"><a href="classpcl_1_1_registration.html#a26eae6a42450893ca1c2ed81560159f2">pcl::Registration::getClassName</a></div><div class="ttdeci">const std::string &amp; getClassName() const</div><div class="ttdoc">Abstract class get name method.</div><div class="ttdef"><b>Definition:</b> registration.h:422</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a27a6eb286aef8d790a6570018e0dfa9b"><div class="ttname"><a href="classpcl_1_1_registration.html#a27a6eb286aef8d790a6570018e0dfa9b">pcl::Registration::getInputCloud</a></div><div class="ttdeci">PointCloudSourceConstPtr const getInputCloud()</div><div class="ttdoc">Get a pointer to the input point cloud dataset target.</div><div class="ttdef"><b>Definition:</b> registration.hpp:51</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a2cdeaab1c7d5e156a7bd35ee71c1f0db"><div class="ttname"><a href="classpcl_1_1_registration.html#a2cdeaab1c7d5e156a7bd35ee71c1f0db">pcl::Registration::transformation_</a></div><div class="ttdeci">Matrix4 transformation_</div><div class="ttdoc">The transformation matrix estimated by the registration method.</div><div class="ttdef"><b>Definition:</b> registration.h:508</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a3362d946f4b60e2628dc02e2af1f24fd"><div class="ttname"><a href="classpcl_1_1_registration.html#a3362d946f4b60e2628dc02e2af1f24fd">pcl::Registration::tree_reciprocal_</a></div><div class="ttdeci">KdTreeReciprocalPtr tree_reciprocal_</div><div class="ttdoc">A pointer to the spatial search object of the source.</div><div class="ttdef"><b>Definition:</b> registration.h:488</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a33d49f38bcb804bb893a14e3cd4ed31e"><div class="ttname"><a href="classpcl_1_1_registration.html#a33d49f38bcb804bb893a14e3cd4ed31e">pcl::Registration::removeCorrespondenceRejector</a></div><div class="ttdeci">bool removeCorrespondenceRejector(unsigned int i)</div><div class="ttdoc">Remove the i-th correspondence rejector in the list</div><div class="ttdef"><b>Definition:</b> registration.h:465</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a34f8e20116d171898515ed94997c3c7d"><div class="ttname"><a href="classpcl_1_1_registration.html#a34f8e20116d171898515ed94997c3c7d">pcl::Registration::setCorrespondenceEstimation</a></div><div class="ttdeci">void setCorrespondenceEstimation(const CorrespondenceEstimationPtr &amp;ce)</div><div class="ttdoc">Provide a pointer to the correspondence estimation object. (e.g., regular, reciprocal,...</div><div class="ttdef"><b>Definition:</b> registration.h:174</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a356b2c632c8160d2fb0d194e9a8720c6"><div class="ttname"><a href="classpcl_1_1_registration.html#a356b2c632c8160d2fb0d194e9a8720c6">pcl::Registration::point_representation_</a></div><div class="ttdeci">PointRepresentationConstPtr point_representation_</div><div class="ttdoc">The point representation used (internal).</div><div class="ttdef"><b>Definition:</b> registration.h:601</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a3844d186f7a99d15464368e0f25635ed"><div class="ttname"><a href="classpcl_1_1_registration.html#a3844d186f7a99d15464368e0f25635ed">pcl::Registration::setMaximumIterations</a></div><div class="ttdeci">void setMaximumIterations(int nr_iterations)</div><div class="ttdoc">Set the maximum number of iterations the internal optimization should run for.</div><div class="ttdef"><b>Definition:</b> registration.h:285</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a3bfafcf5966b90f513f52ff0a7a42f37"><div class="ttname"><a href="classpcl_1_1_registration.html#a3bfafcf5966b90f513f52ff0a7a42f37">pcl::Registration::setSearchMethodSource</a></div><div class="ttdeci">void setSearchMethodSource(const KdTreeReciprocalPtr &amp;tree, bool force_no_recompute=false)</div><div class="ttdoc">Provide a pointer to the search object used to find correspondences in the source cloud (usually used...</div><div class="ttdef"><b>Definition:</b> registration.h:253</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a409442a0f43b73e1227335307b1d9ccc"><div class="ttname"><a href="classpcl_1_1_registration.html#a409442a0f43b73e1227335307b1d9ccc">pcl::Registration::setSearchMethodTarget</a></div><div class="ttdeci">void setSearchMethodTarget(const KdTreePtr &amp;tree, bool force_no_recompute=false)</div><div class="ttdoc">Provide a pointer to the search object used to find correspondences in the target cloud.</div><div class="ttdef"><b>Definition:</b> registration.h:225</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a4c4e69008295052913c76175797b99a9"><div class="ttname"><a href="classpcl_1_1_registration.html#a4c4e69008295052913c76175797b99a9">pcl::Registration::setInputTarget</a></div><div class="ttdeci">virtual void setInputTarget(const PointCloudTargetConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input target (e.g., the point cloud that we want to align the input source t...</div><div class="ttdef"><b>Definition:</b> registration.hpp:58</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a5da970b4fbd4d1dfbaa4ab76d3d7d22e"><div class="ttname"><a href="classpcl_1_1_registration.html#a5da970b4fbd4d1dfbaa4ab76d3d7d22e">pcl::Registration::setPointRepresentation</a></div><div class="ttdeci">void setPointRepresentation(const PointRepresentationConstPtr &amp;point_representation)</div><div class="ttdoc">Provide a boost shared pointer to the PointRepresentation to be used when comparing points</div><div class="ttdef"><b>Definition:</b> registration.h:365</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a5f5e6122a988e5114f4caa1212920444"><div class="ttname"><a href="classpcl_1_1_registration.html#a5f5e6122a988e5114f4caa1212920444">pcl::Registration::correspondence_estimation_</a></div><div class="ttdeci">CorrespondenceEstimationPtr correspondence_estimation_</div><div class="ttdoc">A CorrespondenceEstimation object, used to estimate correspondences between the source and the target...</div><div class="ttdef"><b>Definition:</b> registration.h:550</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a612ce0633b614644e481a0affea2a352"><div class="ttname"><a href="classpcl_1_1_registration.html#a612ce0633b614644e481a0affea2a352">pcl::Registration::~Registration</a></div><div class="ttdeci">virtual ~Registration()</div><div class="ttdoc">destructor.</div><div class="ttdef"><b>Definition:</b> registration.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a6335de3036d6e0fe9a3942cd6f30c87f"><div class="ttname"><a href="classpcl_1_1_registration.html#a6335de3036d6e0fe9a3942cd6f30c87f">pcl::Registration::force_no_recompute_</a></div><div class="ttdeci">bool force_no_recompute_</div><div class="ttdoc">A flag which, if set, means the tree operating on the target cloud will never be recomputed</div><div class="ttdef"><b>Definition:</b> registration.h:565</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a64db6d25e2707a174dbad28f2484bffe"><div class="ttname"><a href="classpcl_1_1_registration.html#a64db6d25e2707a174dbad28f2484bffe">pcl::Registration::setRANSACOutlierRejectionThreshold</a></div><div class="ttdeci">void setRANSACOutlierRejectionThreshold(double inlier_threshold)</div><div class="ttdoc">Set the inlier distance threshold for the internal RANSAC outlier rejection loop.</div><div class="ttdef"><b>Definition:</b> registration.h:309</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a65596dcc3cb5d2647857226fb3d999a5"><div class="ttname"><a href="classpcl_1_1_registration.html#a65596dcc3cb5d2647857226fb3d999a5">pcl::Registration::setMaxCorrespondenceDistance</a></div><div class="ttdeci">void setMaxCorrespondenceDistance(double distance_threshold)</div><div class="ttdoc">Set the maximum distance threshold between two correspondent points in source &lt;-&gt; target....</div><div class="ttdef"><b>Definition:</b> registration.h:321</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a663e64d6d5103eb937addd3e33104cf6"><div class="ttname"><a href="classpcl_1_1_registration.html#a663e64d6d5103eb937addd3e33104cf6">pcl::Registration::addCorrespondenceRejector</a></div><div class="ttdeci">void addCorrespondenceRejector(const CorrespondenceRejectorPtr &amp;rejector)</div><div class="ttdoc">Add a new correspondence rejector to the list</div><div class="ttdef"><b>Definition:</b> registration.h:449</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a6957c3193d73098cb0535d6625d591d4"><div class="ttname"><a href="classpcl_1_1_registration.html#a6957c3193d73098cb0535d6625d591d4">pcl::Registration::nr_iterations_</a></div><div class="ttdeci">int nr_iterations_</div><div class="ttdoc">The number of iterations the internal optimization ran for (used internally).</div><div class="ttdef"><b>Definition:</b> registration.h:491</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a6a111fe9b14dc3c65ca420b640e42de9"><div class="ttname"><a href="classpcl_1_1_registration.html#a6a111fe9b14dc3c65ca420b640e42de9">pcl::Registration::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudSourceConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)</div><div class="ttdef"><b>Definition:</b> registration.hpp:43</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a6b4ae8d2e7b280de376b1e8a3956157e"><div class="ttname"><a href="classpcl_1_1_registration.html#a6b4ae8d2e7b280de376b1e8a3956157e">pcl::Registration::getRANSACOutlierRejectionThreshold</a></div><div class="ttdeci">double getRANSACOutlierRejectionThreshold()</div><div class="ttdoc">Get the inlier distance threshold for the internal outlier rejection loop as set by the user.</div><div class="ttdef"><b>Definition:</b> registration.h:313</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a71b9fa3e4d1285d16361efe4d0634bde"><div class="ttname"><a href="classpcl_1_1_registration.html#a71b9fa3e4d1285d16361efe4d0634bde">pcl::Registration::getEuclideanFitnessEpsilon</a></div><div class="ttdeci">double getEuclideanFitnessEpsilon()</div><div class="ttdoc">Get the maximum allowed distance error before the algorithm will be considered to have converged,...</div><div class="ttdef"><b>Definition:</b> registration.h:359</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a71fec358f22d434de9a654b6ffd5949f"><div class="ttname"><a href="classpcl_1_1_registration.html#a71fec358f22d434de9a654b6ffd5949f">pcl::Registration::getMaxCorrespondenceDistance</a></div><div class="ttdeci">double getMaxCorrespondenceDistance()</div><div class="ttdoc">Get the maximum distance threshold between two correspondent points in source &lt;-&gt; target....</div><div class="ttdef"><b>Definition:</b> registration.h:327</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a7600327adbe8c11394c52f13364133cd"><div class="ttname"><a href="classpcl_1_1_registration.html#a7600327adbe8c11394c52f13364133cd">pcl::Registration::getSearchMethodTarget</a></div><div class="ttdeci">KdTreePtr getSearchMethodTarget() const</div><div class="ttdoc">Get a pointer to the search method used to find correspondences in the target cloud.</div><div class="ttdef"><b>Definition:</b> registration.h:240</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a79b6170328705f29854aba00c4feb66d"><div class="ttname"><a href="classpcl_1_1_registration.html#a79b6170328705f29854aba00c4feb66d">pcl::Registration::tree_</a></div><div class="ttdeci">KdTreePtr tree_</div><div class="ttdoc">A pointer to the spatial search object.</div><div class="ttdef"><b>Definition:</b> registration.h:485</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a7b91930ed75aaafec420ed223d1a111b"><div class="ttname"><a href="classpcl_1_1_registration.html#a7b91930ed75aaafec420ed223d1a111b">pcl::Registration::hasConverged</a></div><div class="ttdeci">bool hasConverged()</div><div class="ttdoc">Return the state of convergence after the last align run</div><div class="ttdef"><b>Definition:</b> registration.h:403</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a83a7a76a4c9d467c3a7bacdc4062f810"><div class="ttname"><a href="classpcl_1_1_registration.html#a83a7a76a4c9d467c3a7bacdc4062f810">pcl::Registration::Registration</a></div><div class="ttdeci">Registration()</div><div class="ttdoc">Empty constructor.</div><div class="ttdef"><b>Definition:</b> registration.h:101</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a86b11948c03bee5474b2224bf988f701"><div class="ttname"><a href="classpcl_1_1_registration.html#a86b11948c03bee5474b2224bf988f701">pcl::Registration::getLastIncrementalTransformation</a></div><div class="ttdeci">Matrix4 getLastIncrementalTransformation()</div><div class="ttdoc">Get the last incremental transformation matrix estimated by the registration method.</div><div class="ttdef"><b>Definition:</b> registration.h:279</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a8d0064ba2f733ef07476f42de09a656f"><div class="ttname"><a href="classpcl_1_1_registration.html#a8d0064ba2f733ef07476f42de09a656f">pcl::Registration::previous_transformation_</a></div><div class="ttdeci">Matrix4 previous_transformation_</div><div class="ttdoc">The previous transformation matrix estimated by the registration method (used internally).</div><div class="ttdef"><b>Definition:</b> registration.h:511</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a8e94793b677e107410ebb29ea2f931e9"><div class="ttname"><a href="classpcl_1_1_registration.html#a8e94793b677e107410ebb29ea2f931e9">pcl::Registration::converged_</a></div><div class="ttdeci">bool converged_</div><div class="ttdoc">Holds internal convergence state, given user parameters.</div><div class="ttdef"><b>Definition:</b> registration.h:536</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a9099e6970624c4ee91817f3f97f82f7f"><div class="ttname"><a href="classpcl_1_1_registration.html#a9099e6970624c4ee91817f3f97f82f7f">pcl::Registration::ransac_iterations_</a></div><div class="ttdeci">int ransac_iterations_</div><div class="ttdoc">The number of iterations RANSAC should run for.</div><div class="ttdef"><b>Definition:</b> registration.h:499</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a931144f549047b081c413e96a2fd70d6"><div class="ttname"><a href="classpcl_1_1_registration.html#a931144f549047b081c413e96a2fd70d6">pcl::Registration::setInputSource</a></div><div class="ttdeci">virtual void setInputSource(const PointCloudSourceConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input source (e.g., the point cloud that we want to align to the target)</div><div class="ttdef"><b>Definition:</b> registration.h:196</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a96212303ca16b6d60020824086887c4f"><div class="ttname"><a href="classpcl_1_1_registration.html#a96212303ca16b6d60020824086887c4f">pcl::Registration::align</a></div><div class="ttdeci">void align(PointCloudSource &amp;output)</div><div class="ttdoc">Call the registration algorithm which estimates the transformation and returns the transformed source...</div><div class="ttdef"><b>Definition:</b> registration.hpp:169</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a97259be9f630f5f21ef60e3e62f8fa47"><div class="ttname"><a href="classpcl_1_1_registration.html#a97259be9f630f5f21ef60e3e62f8fa47">pcl::Registration::getInputTarget</a></div><div class="ttdeci">PointCloudTargetConstPtr const getInputTarget()</div><div class="ttdoc">Get a pointer to the input point cloud dataset target.</div><div class="ttdef"><b>Definition:</b> registration.h:214</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a98f1c160391fff07f34339b63286e228"><div class="ttname"><a href="classpcl_1_1_registration.html#a98f1c160391fff07f34339b63286e228">pcl::Registration::correspondences_</a></div><div class="ttdeci">CorrespondencesPtr correspondences_</div><div class="ttdoc">The set of correspondences determined at this ICP step.</div><div class="ttdef"><b>Definition:</b> registration.h:544</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_a99baaa7e513bda9103c58fd1471557ed"><div class="ttname"><a href="classpcl_1_1_registration.html#a99baaa7e513bda9103c58fd1471557ed">pcl::Registration::transformation_estimation_</a></div><div class="ttdeci">TransformationEstimationPtr transformation_estimation_</div><div class="ttdoc">A TransformationEstimation object, used to calculate the 4x4 rigid transformation.</div><div class="ttdef"><b>Definition:</b> registration.h:547</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_aa776d097d20137f2702a275d931989d2"><div class="ttname"><a href="classpcl_1_1_registration.html#aa776d097d20137f2702a275d931989d2">pcl::Registration::max_iterations_</a></div><div class="ttdeci">int max_iterations_</div><div class="ttdoc">The maximum number of iterations the internal optimization should run for. The default value is 10.</div><div class="ttdef"><b>Definition:</b> registration.h:496</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ab26742c383b6f5e86fb96a236fb08728"><div class="ttname"><a href="classpcl_1_1_registration.html#ab26742c383b6f5e86fb96a236fb08728">pcl::Registration::getFitnessScore</a></div><div class="ttdeci">double getFitnessScore(double max_range=std::numeric_limits&lt; double &gt;::max())</div><div class="ttdoc">Obtain the Euclidean fitness score (e.g., sum of squared distances from the source to the target)</div><div class="ttdef"><b>Definition:</b> registration.hpp:132</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ab5bf2297e961c3012bffe79fdd2d495d"><div class="ttname"><a href="classpcl_1_1_registration.html#ab5bf2297e961c3012bffe79fdd2d495d">pcl::Registration::euclidean_fitness_epsilon_</a></div><div class="ttdeci">double euclidean_fitness_epsilon_</div><div class="ttdoc">The maximum allowed Euclidean error between two consecutive steps in the ICP loop,...</div><div class="ttdef"><b>Definition:</b> registration.h:522</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ab5d7a9089d15932a78775dbb0b30d42f"><div class="ttname"><a href="classpcl_1_1_registration.html#ab5d7a9089d15932a78775dbb0b30d42f">pcl::Registration::inlier_threshold_</a></div><div class="ttdeci">double inlier_threshold_</div><div class="ttdoc">The inlier distance threshold for the internal RANSAC outlier rejection loop. The method considers a ...</div><div class="ttdef"><b>Definition:</b> registration.h:533</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_abbeeee9510e44239d47b3c8079ee7c20"><div class="ttname"><a href="classpcl_1_1_registration.html#abbeeee9510e44239d47b3c8079ee7c20">pcl::Registration::searchForNeighbors</a></div><div class="ttdeci">bool searchForNeighbors(const PointCloudSource &amp;cloud, int index, std::vector&lt; int &gt; &amp;indices, std::vector&lt; float &gt; &amp;distances)</div><div class="ttdoc">Search for the closest nearest neighbor of a given point.</div><div class="ttdef"><b>Definition:</b> registration.h:586</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ac0c221d8f1151096721db3817610c9d9"><div class="ttname"><a href="classpcl_1_1_registration.html#ac0c221d8f1151096721db3817610c9d9">pcl::Registration::getCorrespondenceRejectors</a></div><div class="ttdeci">std::vector&lt; CorrespondenceRejectorPtr &gt; getCorrespondenceRejectors()</div><div class="ttdoc">Get the list of correspondence rejectors.</div><div class="ttdef"><b>Definition:</b> registration.h:456</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ac0d56239d2f0d7c567f9402a177d3a0e"><div class="ttname"><a href="classpcl_1_1_registration.html#ac0d56239d2f0d7c567f9402a177d3a0e">pcl::Registration::getInputSource</a></div><div class="ttdeci">PointCloudSourceConstPtr const getInputSource()</div><div class="ttdoc">Get a pointer to the input point cloud dataset target.</div><div class="ttdef"><b>Definition:</b> registration.h:204</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ac13dcb392c660cf311a689041ec63a5c"><div class="ttname"><a href="classpcl_1_1_registration.html#ac13dcb392c660cf311a689041ec63a5c">pcl::Registration::registerVisualizationCallback</a></div><div class="ttdeci">bool registerVisualizationCallback(boost::function&lt; FunctionSignature &gt; &amp;visualizerCallback)</div><div class="ttdoc">Register the user callback function which will be called from registration thread in order to update ...</div><div class="ttdef"><b>Definition:</b> registration.h:375</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ad16bd1099eb60c9ac26fdc6c56058029"><div class="ttname"><a href="classpcl_1_1_registration.html#ad16bd1099eb60c9ac26fdc6c56058029">pcl::Registration::setTransformationEstimation</a></div><div class="ttdeci">void setTransformationEstimation(const TransformationEstimationPtr &amp;te)</div><div class="ttdoc">Provide a pointer to the transformation estimation object. (e.g., SVD, point to plane etc....</div><div class="ttdef"><b>Definition:</b> registration.h:150</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ad1fc63c91641a5e160aa19108a7811ec"><div class="ttname"><a href="classpcl_1_1_registration.html#ad1fc63c91641a5e160aa19108a7811ec">pcl::Registration::force_no_recompute_reciprocal_</a></div><div class="ttdeci">bool force_no_recompute_reciprocal_</div><div class="ttdoc">A flag which, if set, means the tree operating on the source cloud will never be recomputed</div><div class="ttdef"><b>Definition:</b> registration.h:569</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_adbd6519634f433c0be2fd640c0c75108"><div class="ttname"><a href="classpcl_1_1_registration.html#adbd6519634f433c0be2fd640c0c75108">pcl::Registration::transformation_epsilon_</a></div><div class="ttdeci">double transformation_epsilon_</div><div class="ttdoc">The maximum difference between two consecutive transformations in order to consider convergence (user...</div><div class="ttdef"><b>Definition:</b> registration.h:516</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_adc73c4731a1e01ac100ebf4659578e1c"><div class="ttname"><a href="classpcl_1_1_registration.html#adc73c4731a1e01ac100ebf4659578e1c">pcl::Registration::correspondence_rejectors_</a></div><div class="ttdeci">std::vector&lt; CorrespondenceRejectorPtr &gt; correspondence_rejectors_</div><div class="ttdoc">The list of correspondence rejectors to use.</div><div class="ttdef"><b>Definition:</b> registration.h:553</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_add717357d14e16c3d71eefe8cd658343"><div class="ttname"><a href="classpcl_1_1_registration.html#add717357d14e16c3d71eefe8cd658343">pcl::Registration::getSearchMethodSource</a></div><div class="ttdeci">KdTreeReciprocalPtr getSearchMethodSource() const</div><div class="ttdoc">Get a pointer to the search method used to find correspondences in the source cloud.</div><div class="ttdef"><b>Definition:</b> registration.h:268</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_adf1c20667e8bc292a687c9664fd30735"><div class="ttname"><a href="classpcl_1_1_registration.html#adf1c20667e8bc292a687c9664fd30735">pcl::Registration::getMaximumIterations</a></div><div class="ttdeci">int getMaximumIterations()</div><div class="ttdoc">Get the maximum number of iterations the internal optimization should run for, as set by the user.</div><div class="ttdef"><b>Definition:</b> registration.h:289</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ae210269f0404556b8dd7f4306084a91d"><div class="ttname"><a href="classpcl_1_1_registration.html#ae210269f0404556b8dd7f4306084a91d">pcl::Registration::initComputeReciprocal</a></div><div class="ttdeci">bool initComputeReciprocal()</div><div class="ttdoc">Internal computation when reciprocal lookup is needed</div><div class="ttdef"><b>Definition:</b> registration.hpp:102</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ae33bc2efe08f2fff1a35df1b3d602036"><div class="ttname"><a href="classpcl_1_1_registration.html#ae33bc2efe08f2fff1a35df1b3d602036">pcl::Registration::min_number_correspondences_</a></div><div class="ttdeci">int min_number_correspondences_</div><div class="ttdoc">The minimum number of correspondences that the algorithm needs before attempting to estimate the tran...</div><div class="ttdef"><b>Definition:</b> registration.h:541</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_ae5eb5d425e7cc8a998f0e4b1b253a6f5"><div class="ttname"><a href="classpcl_1_1_registration.html#ae5eb5d425e7cc8a998f0e4b1b253a6f5">pcl::Registration::computeTransformation</a></div><div class="ttdeci">virtual void computeTransformation(PointCloudSource &amp;output, const Matrix4 &amp;guess)=0</div><div class="ttdoc">Abstract transformation computation method with initial guess</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_aeb0bb4577dbe144bd467d4a9632b84d8"><div class="ttname"><a href="classpcl_1_1_registration.html#aeb0bb4577dbe144bd467d4a9632b84d8">pcl::Registration::setEuclideanFitnessEpsilon</a></div><div class="ttdeci">void setEuclideanFitnessEpsilon(double epsilon)</div><div class="ttdoc">Set the maximum allowed Euclidean error between two consecutive steps in the ICP loop,...</div><div class="ttdef"><b>Definition:</b> registration.h:353</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_aec74ab878cca8d62fd1be9942685a8c1"><div class="ttname"><a href="classpcl_1_1_registration.html#aec74ab878cca8d62fd1be9942685a8c1">pcl::Registration::setTransformationEpsilon</a></div><div class="ttdeci">void setTransformationEpsilon(double epsilon)</div><div class="ttdoc">Set the transformation epsilon (maximum allowable difference between two consecutive transformations)...</div><div class="ttdef"><b>Definition:</b> registration.h:336</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_aefd89f31379081d9cc75e3ce9ab1a947"><div class="ttname"><a href="classpcl_1_1_registration.html#aefd89f31379081d9cc75e3ce9ab1a947">pcl::Registration::source_cloud_updated_</a></div><div class="ttdeci">bool source_cloud_updated_</div><div class="ttdoc">Variable that stores whether we have a new source cloud, meaning we need to pre-process it again....</div><div class="ttdef"><b>Definition:</b> registration.h:562</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_af9ac08a379a3b5db44c5c502cf6a882e"><div class="ttname"><a href="classpcl_1_1_registration.html#af9ac08a379a3b5db44c5c502cf6a882e">pcl::Registration::target_</a></div><div class="ttdeci">PointCloudTargetConstPtr target_</div><div class="ttdoc">The input point cloud dataset target.</div><div class="ttdef"><b>Definition:</b> registration.h:502</div></div>
<div class="ttc" id="aclasspcl_1_1_registration_html_affcce068a7d132be1eb299d509390ca1"><div class="ttname"><a href="classpcl_1_1_registration.html#affcce068a7d132be1eb299d509390ca1">pcl::Registration::getRANSACIterations</a></div><div class="ttdeci">double getRANSACIterations()</div><div class="ttdoc">Get the number of iterations RANSAC should run for, as set by the user.</div><div class="ttdef"><b>Definition:</b> registration.h:299</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_correspondence_estimation_base_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_correspondence_estimation_base.html">pcl::registration::CorrespondenceEstimationBase</a></div><div class="ttdoc">Abstract CorrespondenceEstimationBase class. All correspondence estimation methods should inherit fro...</div><div class="ttdef"><b>Definition:</b> correspondence_estimation.h:64</div></div>
<div class="ttc" id="aclasspcl_1_1registration_1_1_transformation_estimation_html"><div class="ttname"><a href="classpcl_1_1registration_1_1_transformation_estimation.html">pcl::registration::TransformationEstimation</a></div><div class="ttdoc">TransformationEstimation represents the base class for methods for transformation estimation based on...</div><div class="ttdef"><b>Definition:</b> transformation_estimation.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt; PointTarget &gt;</a></div></div>
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